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Two-section Articulated Chassis with Active Articulating Joints and Walking Mechanisms for Enhancing Off-road Capability of Mobile Robotic Systems

Affiliations

  • Joint Stock Company Science and Technology Centre «ROCAD», St. Petersburg, Russia

Abstract


Objectives: The relevance of this research is determined by challenges faced by today’s robotics and requirements regarding increased movement speed, enhanced mobility on rough terrain, with view to their limitations in weight and dimensions, increased operation time and range of coverage that are imposed on such devices. Therefore, this research aims at discovering a possibility of enhancing off-road capability of mobile high-mobility robotic systems. Method: Comparative analysis of a variety of chassis designs of high-mobility robotic platforms is the basic approach to studying this problem. This article includes a review of modern structures of mobility systems, and structural, configuration and specification advantages and disadvantages of such systems. Findings: An articulated chassis layout that includes active articulating joints with two sections and walking mechanisms was selected as a result of this research. Two mobile robotic platforms were developed according to this layout. Robotic platforms were tested and their high off-road capability was proved within this research. Test materials for one robotic platform and some simulation results for the other platform are presented in this article. Appearance is provided and the specifications of the developed mobile robotic platforms are given. Improvements: This article should be particularly interesting for designers of robotic mobility systems. This research reveals two modern high-mobility robotic systems that may be used for solving multi-objective problems in various industries.

Keywords

Articulated Frame, Mobile Robotics, Mobile Robotic Platforms, Mobility Systems, Off-Road Capability, Wheel- Walking Chassis.

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